DETECTION SYSTEM WITH A SINGLE MODE LASER FOR A VEHICLE
A detection system for a vehicle includes an imaging device configured to capture an image of an interior surface of the vehicle. An illumination assembly includes an array of laser diodes each configured to project an illumination, each laser diode is configured as at least one of a single mode laser or a vertical-cavity surface-emitting laser (“VCSEL”). An optical element is proximate to the array of laser diodes and includes a collimation element for guiding the illumination to form at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the array of laser diodes and process the image of the interior surface to detect at least one of a change in a location or a speckle content of the at least one spot.
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This application claims priority to and the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Application No. 63/422,482, filed on Nov. 4, 2022, entitled “DETECTION SYSTEM WITH A SINGLE MODE LASER FOR A VEHICLE,” the disclosure of which is hereby incorporated herein by reference in its entirety.
FIELD OF THE DISCLOSUREThe present disclosure generally relates to a detection system with an array of lasers for monitoring an interior of a vehicle, and, more particularly, to a structured light device that utilizes an array of single mode lasers for monitoring an interior of a vehicle.
SUMMARY OF THE DISCLOSUREAccording to one aspect of the present disclosure, a detection system for a vehicle includes an imaging device configured to capture an image of an interior surface of the vehicle. An illumination assembly includes an array of laser diodes each configured to project an illumination, each laser diode is configured as at least one of a single mode laser or a vertical-cavity surface-emitting laser (“VCSEL”). An optical element is proximate to the array of laser diodes and includes a collimation element for guiding the illumination to form at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the array of laser diodes and process the image of the interior surface to detect at least one of a change in a location or a speckle content of the at least one spot.
According to another aspect of the present disclosure, a detection system includes an imaging device configured to capture an image in a field of view. An illumination assembly is configured to illuminate the field of view with a spot array pattern. The illumination assembly includes a plurality of vertical-cavity surface-emitting laser diodes (“VCSELs”) arranged in a laser diode array and configured to project a plurality of illuminations. An optical element is configured to collimate the plurality of illuminations into at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the laser diode array, process the image of the interior to determine a position of the at least one spot in the spot array pattern, and extract a depth of the surface based on the position of the at least one spot.
According to yet another aspect of the present disclosure, a detection system includes an imaging device configured to capture an image in a field of view. An illumination assembly is configured to illuminate the field of view with a spot array pattern. The illumination assembly includes a plurality of single mode lasers arranged in a laser diode array and configured to project a plurality of illuminations. An optical element is configured to collimate the plurality of illuminations into at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the laser diode array, process the image of the interior to detect a change in a speckle content of the at least one spot in the spot array pattern, and identify a condition within the interior based on the detected change in the speckle content.
These and other features, advantages, and objects of the present disclosure will be further understood and appreciated by those skilled in the art by reference to the following specification, claims, and appended drawings.
In the drawings:
The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles described herein.
DETAILED DESCRIPTIONThe present illustrated embodiments reside primarily in a combination of apparatus components related to a detection system for a vehicle.
For purposes of description herein, the terms “upper,” “lower,” “right,” “left,” “rear,” “front,” “vertical,” “horizontal,” and derivatives thereof shall relate to the disclosure as oriented in
The terms “including,” “comprises,” “comprising,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element preceded by “comprises a . . . ” does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.
The term “substantially,” and variations thereof, will be understood by persons of ordinary skill in the art as describing a feature that is equal or approximately equal to a value or description. For example, a “substantially planar” surface is intended to denote a surface that is planar or approximately planar. Moreover, “substantially” is intended to denote that two values are equal or approximately equal. If there are uses of the term which are not clear to persons of ordinary skill in the art, given the context in which it is used, “substantially” may denote values within about 10% of each other, such as within about 5% of each other, or within about 2% of each other.
The term “approximately,” the phrase “approximately equal to,” and other similar phrases, as used in the specification and the claims (e.g., “X has a value of approximately Y” or “X is approximately equal to Y”), should be understood to mean that one value (X) is within a predetermined range of another value (Y). The predetermined range may be plus or minus 20%, 10%, 5%, 3%, 1%, 0.1%, or less than 0.1%, unless otherwise indicated.
Referring to
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Referring now to
Regardless of the shape and distribution of the light spots 56, when the surface 54a-54f reflecting the light spot 56 moves, the light spots 56 also move and this movement is captured by the imaging device 14. Under a first mode of operation, the processor 38 may process the images 16 captured by the imaging device 14 and extrapolate movement of light spots 56 into a depth of the surface 54a-54f based on the principles of triangulation and known geometries between imaging device 14, the illumination assembly 20, and the distribution of light spot array 22. For example, the processor 38 may be configured to determine movement based on an outer perimeter or a center of gravity of each light spot 56. Under the first mode of operation, the imaging device 14 and illumination assembly 20 may be closely and rigidly fixed on a common optical bench structure (e.g., within the rearview mirror or other shared location) and, based on the known spacing between the imaging device 14 and illumination assembly 20 (e.g., the laser diodes 26) and distribution of the light spot array 22, the reflected light spot 56 location can be captured along an epipolar line, which, in turn, can be triangulated to extract a depth of the surface 54a-54f. The depth of the surface 54a-54f at each light spot 56 can then be used to extrapolate a contour of the surface 54a-54f. Likewise, changes in depth can be used to extrapolate the present location of the surface 54a-54f and movement of the surface 54a-54f as a function of time.
In the illustrated example of
Referring now to
With continued reference to
Still referring to
As explained previously, the minor positional changes of the surface 54a-54f may correspond to vital signs of an occupant. These vital signs may include the presence, rate and magnitude of breathing, pulse, and/or other vital signs or physiological conditions of the occupant in the vehicle 12. It is contemplated that other small-scale movements toward, away from, or laterally relative to the imaging device 14 and/or the illumination assembly 20 may correspond with sources other than vital signs of an occupant within the vehicle 12, for example, simply the presence of the occupant. In general, the processor 38 of the present disclosure may be configured to execute breathing, pulse, or other detection algorithms for determining the presence of an occupant (i.e., a person or an animal). As will be described further, the processor 38 may be in communication with peripheral or remote devices in order generate a communication of the occupancy of the vehicle 12. Although not illustrated in detail, the processor 38 may evaluate some or all of the plurality of light spots 56 projected by the illumination assembly 20 and amalgamate the image data 60 corresponding with each of the plurality of light spots 56 to further refine the determination of the occupancy of the vehicle 12 and/or condition of the interior 18. For example, the processor 38 may employ one or more statistical modeling techniques to amalgamate or otherwise average the change in the pixel values of each light spot 56 in order to differentiate against noise and/or vibrations caused by movement of the vehicle 12 from operational factors (e.g., gear shifting, braking, engine vibrations, road conditions, and/or the like).
It is further contemplated that the pixel data presented in
Referring now to
In general, the provision of an array 24 of VCSELs 68 (e.g., or other single mode lasers), as opposed to a single or multiple edge-emitting laser diodes 26, may provide for greater reliability and allow a large area within the field of view 48 of the imaging device 14 to be covered by the spot array pattern 22. For example, a zero-order suppression, which may be employed in the optical element 30 relative to peripheral distribution, may be lowered to improve eye safety. In addition, a single mode configuration for the VCSELs 68, may allow for the greater granularity of the pixel data as described above with relation to
It is contemplated that the use of a single mode VCSEL 68 (e.g., or other single mode lasers such as a PCSEL) may result in a lower power consumption relative to the requirements of a multimode illumination source. The lower power consumption may allow for detection ranges suitable for the interior 18 of the vehicle 12. In general, the granularity of the light spot 56 in combination with the resolution of the imaging device 14 may allow the processor 38 to detect micro vibrations associated with one or more vital signs associated with the interior 18, as previously described.
Referring now to
In some embodiments, the processor 38 may receive instructions from a memory 106. The memory 106 may include a single disk or a plurality of disks (e.g., hard drives) and includes a storage management module that manages one or more partitions within the memory 106. In some embodiments, memory 106 may include flash memory, semiconductor (solid-state) memory, or the like. The memory 106 may include Random Access Memory (RAM), a Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), or a combination thereof. The memory 106 may include instructions that, when executed by the processor 38, cause the processor 38 to, at least, perform the functions associated with the components of the detection system 10. It is contemplated that other vehicle 12 sub-systems may be in communication with the sensing module 88 and be configured to operate in response to a condition determined by the processor 38 of the present disclosure. For example, speakers or a display within the vehicle 12 may be utilized for generating an alert.
In addition, an alert signal or other communication may be communicated to the mobile device 94 and/or the HMI 92 in response to detection of an alert condition. It is contemplated that, although described in relation to the left behind condition, other conditions may be determined based on analysis of the image data 60 and the determination of micro vibrations of the vehicle 12. For example, the present sensing module 88 may serve as an optical microphone and employ the processor 38 for analysis of a mouth area on the occupant. Patterns associated with language, volume, or intensity of an audible signal may be applied to the image/video data and analyzed by the processor 38 to determine a distressed level of an occupant within the interior 18. In some embodiments, the sensing module 88 may include a temperature module 95 for detecting a current temperature in the vehicle. In this manner, when a left behind condition is detected, the processor 38 may receive the current temperature from the temperature module 95 to determine if the current temperature is within a threshold (e.g., too hot or too cold) that requires intervention via the vehicle systems 96 (e.g., rolling down a window, heating, or cooling).
In some embodiments, the processor 38 may be configured to generate a communication before a transmission of the vehicle 12 is placed in a drive mode or after the transmission of a vehicle is placed in park mode. In some embodiments, the processor 38 may be configured to generate a communication (e.g., to the mobile device 94 or a display within the vehicle 12) if an occupant is detected in the interior 18 (e.g., the rear compartment 52) and a driver is not detected for a predetermined amount of time. In some embodiments, the processor 38 may be configured to generate a communication (e.g., to the mobile device 94 or a display within the vehicle 12) if an occupant is detected in the interior 18 (e.g., the rear compartment 52) and the vehicle has reached a destination. For example, if a vehicle reaches a destination but a door providing access to the interior 18 has not been opened for a predetermined amount of time, the processor 38 may be configured to generate the communication. In some embodiments, the processor 38 may be configured to employ the first mode of operation to detect an occupant. If an occupant is undetected by the first mode of operation, the processor 38 may be further configured to employ the second mode of operation. In general, under the principles of the first and/or second modes of operation, the processor 38 may be configured to generate a communication that corresponds to detecting an occupant, not detecting an occupant, no longer detecting an occupant that was previously detected, and other scenarios.
Incorporation of single mode VCSELs 68 (e.g., or other single mode lasers such as a PCSEL) for in-cabin monitoring may be an unexpected, or seemingly counterintuitive, solution for in-cabin monitoring, but the detection system 10 of the present disclosure may employ such a system in order to detect micro-scale movements or other minor movements in the vehicle 12. Typically, multi-mode lasers are preferred for such detection methods due to smoothness of the illumination regions and higher power levels. However, the detection system 10 of the present disclosure may utilize the granularity of the speckle distribution produced by the single mode. VCSELs 68 are used in order to effectively track the micro-vibrations with the interior 18 in a cost-effective and more compact manner. Moreover, VCSELs 68 require smaller packing requirements and exhibit smaller divergence angles. Thus, by packaging the array 24 of the VCSELs 68 with optical element 30 of the present disclosure, a more efficient and effective detection system 10 may be provided. Further, because the VCSELs 68 (e.g., or other single mode lasers such as a PCSEL) may be packaged in arrays 24, fewer replications to the illumination 28 may be required for optimized performance and the diffractive element 34 can be simplified or not included.
It will be appreciated that embodiments of the disclosure described herein may be comprised of one or more conventional processors and unique stored program instructions that control one or more processors to implement, in conjunction with certain non-processor circuits, some, most, or all of the functions of a display mirror assembly, as described herein. The non-processor circuits may include, but are not limited to, signal drivers, clock circuits, power source circuits, and/or user input devices. As such, these functions may be interpreted as steps of a method used in using or constructing a classification system. Alternatively, some or all functions could be implemented by a state machine that has no stored program instructions, or in one or more application specific integrated circuits (ASICs), in which each function or some combinations of certain of the functions are implemented as custom logic. Of course, a combination of the two approaches could be used. Thus, the methods and means for these functions have been described herein. Further, it is expected that one of ordinary skill, notwithstanding possibly significant effort and many design choices motivated by, for example, available time, current technology, and economic considerations, when guided by the concepts and principles disclosed herein will be readily capable of generating such software instructions and programs and ICs with minimal experimentation.
The disclosure herein is further summarized in the following paragraphs and is further characterized by combinations of any and all of the various aspects described therein.
According to one aspect of the present disclosure, a detection system for a vehicle includes an imaging device configured to capture an image of an interior surface of the vehicle. An illumination assembly includes an array of laser diodes each configured to project an illumination, each laser diode is configured as at least one of a single mode laser or a vertical-cavity surface-emitting laser (“VCSEL”). An optical element is proximate to the array of laser diodes and includes a collimation element for guiding the illumination to form at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the array of laser diodes and process the image of the interior surface to detect at least one of a change in a location or a speckle content of the at least one spot.
According to another aspect, a processor is further configured to determine a presence of a vehicle occupant with a change in a location or a speckle content of at least one spot.
According to yet another aspect, a processor is further configured to detect a vital sign of a vehicle occupant by changes in a speckle content as a result of movement in the micrometer or micro-radian scale.
According to still yet another aspect, the vital sign includes at least one of a rate and magnitude of breathing or a pulse.
According to another aspect, determining a change in the speckle content of an at least one spot includes comparing first pixel data of the at least one spot captured at a first time to second pixel data of the at least one spot captured at a second time that is after the first time.
According to another aspect, a processor is further configured to detect movement of a vehicle occupant by capturing a change in a location of an at least one spot and extrapolate a depth and contour of the interior surface based on the change in the location of the at least one spot.
According to yet another aspect, a processor is further configured to detect a left behind condition if a vehicle occupant is in a rear compartment of a vehicle and a driver is not detected.
According to still yet another aspect, the processor is configured to generate an alert after a left behind condition is detected.
According to another aspect, a temperature detection module communicates a current temperature within a vehicle to a processor and the processor is configured to generate a signal to a vehicle system to at least one of open a window or control an HVAC system after a left behind condition is detected and the current temperature is within a threshold.
According to another aspect, an at least one light spot includes a plurality of light spots in a spot array.
According to yet another aspect, each laser diode in an array of laser diodes is a VCSEL.
According to still yet another aspect, each of a plurality of laser diodes is spaced uniformly on a common substrate.
According to another aspect, each laser diode in an array of laser diodes is a single mode laser.
According to another aspect of the present disclosure, a detection system includes an imaging device configured to capture an image in a field of view. An illumination assembly is configured to illuminate the field of view with a spot array pattern. The illumination assembly includes a plurality of vertical-cavity surface-emitting laser diodes (“VCSELs”) arranged in a laser diode array and configured to project a plurality of illuminations. An optical element is configured to collimate the plurality of illuminations into at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the laser diode array, process the image of the interior to determine a position of the at least one spot in the spot array pattern, and extract a depth of the surface based on the position of the at least one spot.
According to another aspect, a diffractive element is configured to guide and replicate an illumination from a collimation element.
According to yet another aspect, each of a plurality of VCSELs is configured as a single mode laser diode.
According to still yet another aspect, a processor is further configured to determine a presence of a vehicle occupant by extrapolating a contour of an interior surface based on an extracted depth.
According to another aspect, a processor is configured to determine a presence of a vehicle occupant and detect a vital sign of the vehicle occupant by changes in a speckle content as a result of movement in the micrometer or micro-radian scale.
According to yet another aspect of the present disclosure, a detection system includes an imaging device configured to capture an image in a field of view. An illumination assembly is configured to illuminate the field of view with a spot array pattern. The illumination assembly includes a plurality of single mode lasers arranged in a laser diode array and configured to project a plurality of illuminations. An optical element is configured to collimate the plurality of illuminations into at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the laser diode array, process the image of the interior to detect a change in a speckle content of the at least one spot in the spot array pattern, and identify a condition within the interior based on the detected change in the speckle content.
According to another aspect, the condition within the interior is a vital sign of a vehicle occupant detected by changes in the speckle content as a result of movement in the micrometer or micro-radian scale.
According to one aspect of the present disclosure, a detection system for a vehicle includes an imaging device configured to capture an image of an interior of the vehicle. An illumination assembly includes an array of laser diodes each configured to project an illumination. An optical element is proximate to the array of laser diodes and includes a collimation element for guiding the illumination to form at least one light spot. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the array of laser diodes, process the image of the interior to detect at least one of a location or a change in speckle content of the at least one spot.
According to another aspect of the present disclosure, an illumination assembly of a detection system for a vehicle includes an array of light sources coupled to at least one substrate, each of the light sources are configured to project an illumination forming a spot array pattern. The spot array pattern is directed toward an interior of the vehicle. An optical element is proximate to the array and includes a collimation element collimating the illumination and a diffractive element diffracting the illumination to form at least one light spot.
According to another aspect of the present disclosure, an illumination assembly of a detection system for a vehicle includes an array of light sources coupled to at least one substrate, each of the light sources are configured to project an illumination forming a spot array pattern. The spot array pattern is directed toward an interior of the vehicle. An optical element is proximate to the array and includes a collimation element collimating the illumination to form at least one light spot.
According to another aspect of the present disclosure, a detection system includes an array of single mode vertical-cavity surface-emitting lasers (“VCSELs”) and an optical element for guiding light emitted from the array of VCSELs into a spot array pattern. The spot array pattern includes a plurality of light spots projected onto a surface in the cabin and each spot includes a speckle content. An imaging device is provided to capture images of at least one of the plurality of light spots that includes changes to the speckle content in pixel data. At least one processor is in communication with the imaging device and the array of VCSELs and is configured to communicate an instruction to project the spot array pattern. The at least one processor is further configured to detect changes in the pixel data of at least one light spot and determine, based on the detection, a micro change in a position of the surface.
According to another aspect of the present disclosure, a detection system includes an imaging device configured to capture an image in a field of view. An illumination assembly is configured to illuminate the field of view with a spot array pattern. The illumination assembly includes a plurality of vertical-cavity surface-emitting lasers (“VCSELs”) arranged in an array of VCSELs configured to project a plurality of illuminations. An optical element is configured to collimate the plurality of illuminations and diffract each of the plurality of illuminations into at least one light spot projected onto a surface of an interior of a vehicle. A processor is in communication with the imaging device and the illumination assembly. The processor is configured to communicate a signal to operate the array of VCSELs, process the image of the interior to determine a position of the at least one spot in the spot array pattern, and determine the depth of the surface based on the position of the at least one spot.
It will be understood by one having ordinary skill in the art that construction of the described disclosure and other components is not limited to any specific material. Other exemplary embodiments of the disclosure may be formed from a wide variety of materials, unless described otherwise herein.
For purposes of this disclosure, the term “coupled” (in all of its forms, couple, coupling, coupled, etc.) generally means the joining of two components (electrical or mechanical) directly or indirectly to one another. Such joining may be stationary in nature or movable in nature. Such joining may be achieved with the two components (electrical or mechanical) and any additional intermediate members being integrally formed as a single unitary body with one another or with the two components. Such joining may be permanent in nature or may be removable or releasable in nature unless otherwise stated.
Claims
1. A detection system for a vehicle, comprising:
- an imaging device configured to capture an image of an interior surface of the vehicle;
- an illumination assembly including: an array of laser diodes each configured to project an illumination, each laser diode being configured as at least one of a single mode laser or a vertical-cavity surface-emitting laser (“VCSEL”); an optical element proximate to the array of laser diodes and including a collimation element for guiding the illumination to form at least one light spot; and
- a processor in communication with the imaging device and the illumination assembly, the processor configured to communicate a signal to operate the array of laser diodes, process the image of the interior surface to detect at least one of a change in a location or a speckle content of the at least one spot.
2. The detection system of claim 1, wherein the processor is further configured to determine a presence of a vehicle occupant with the change in the location or the speckle content of the at least one spot.
3. The detection system of claim 2, wherein the processor is further configured to detect a vital sign of the vehicle occupant by changes in the speckle content as a result of movement in a micrometer or micro-radian scale.
4. The detection system of claim 3, wherein the vital sign includes at least one of a rate and magnitude of breathing or a pulse.
5. The detection system of claim 2, wherein determining the change in the speckle content of the at least one spot includes comparing first pixel data of the at least one spot captured at a first time to second pixel data of the at least one spot captured at a second time that is after the first time.
6. The detection system of claim 2, wherein the processor is further configured to detect movement of the vehicle occupant by capturing the change in the location of the at least one spot and extrapolate a depth and contour of the interior surface based on the change in the location of the at least one spot.
7. The detection system of claim 2, wherein the processor is further configured to detect a left behind condition if the vehicle occupant is in a rear compartment of the vehicle and a driver is not detected.
8. The detection system of claim 7, wherein the processor is configured to generate an alert after a left behind condition is detected.
9. The detection system of claim 7, further including a temperature detection module communicating a current temperature within the vehicle to the processor, wherein the processor is configured to generate a signal to a vehicle system to at least one of open a window or control an HVAC system after the left behind condition is detected and the current temperature is within a threshold.
10. The detection system of claim 1, wherein the at least one light spot includes a plurality of light spots in a spot array.
11. The detection system of claim 1, wherein each laser diode in the array of laser diodes is configured as the VCSEL.
12. The detection system of claim 9, wherein each laser diode is spaced uniformly on a common substrate.
13. The detection system of claim 1, wherein each laser diode in the array of laser diodes is configured as the single mode laser.
14. A detection system, comprising:
- an imaging device configured to capture an image in a field of view;
- an illumination assembly configured to illuminate the field of view with a spot array pattern, the illumination assembly including: a plurality of vertical-cavity surface-emitting laser diodes (“VCSELs”) arranged in a laser diode array and configured to project a plurality of illuminations; and an optical element configured to collimate the plurality of illuminations into at least one light spot; and
- a processor in communication with the imaging device and the illumination assembly, the processor configured to communicate a signal to operate the laser diode array, process the image of the interior to determine a position of the at least one spot in the spot array pattern, and extract a depth of the surface based on the position of the at least one spot.
15. The detection system of claim 14, further including a diffractive element configured to guide and replicate the illumination from a collimation element.
16. The detection system of claim 14, wherein each VCSEL is configured as a single mode laser diode.
17. The detection system of claim 14, wherein the processor is further configured to determine a presence of a vehicle occupant by extrapolating a contour of a surface of the interior based on the extracted depth.
18. The detection system of claim 14, wherein the processor is further configured to determine a presence of a vehicle occupant and detect a vital sign of the vehicle occupant by changes in a speckle content as a result of movement in a micrometer or micro-radian scale.
19. A detection system, comprising:
- an imaging device configured to capture an image in a field of view;
- an illumination assembly configured to illuminate the field of view with a spot array pattern, the illumination assembly including: a plurality of single mode lasers arranged in a laser diode array and configured to project a plurality of illuminations; and an optical element configured to collimate the plurality of illuminations into at least one light spot; and
- a processor in communication with the imaging device and the illumination assembly, the processor configured to communicate a signal to operate the laser diode array, process the image of the interior to detect a change in a speckle content of the at least one spot in the spot array pattern, and identify a condition within the interior based on the detected change in the speckle content.
20. The detection system of claim 19, wherein the condition within the interior is a vital sign of a vehicle occupant detected by changes in the speckle content as a result of movement in a micrometer or micro-radian scale.
Type: Application
Filed: Nov 2, 2023
Publication Date: May 9, 2024
Applicant: Gentex Corporation (Zeeland, MI)
Inventors: Robert R. Turnbull (Holland, MI), Guy Raz (Binyamina)
Application Number: 18/500,187